from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator 
import rclpy

def main():
    rclpy.init()
    nav=BasicNavigator()

    nav.waitUntilNav2Active()
    goal_pose=PoseStamped()
    goal_pose.header.frame_id='map'
    goal_pose.header.stamp=nav.get_clock().now().to_msg()
    goal_pose.pose.position.x=2
    goal_pose.pose.position.y=1
    goal_pose.pose.orientation.w=1
    nav.goToPose(goal_pose)
    while nav.isTaskComplete():
        feedback=nav.getFeedback()
        nav.get_logger().info(f'{feedback.distance_remaining}')
    result=nav.getResult()
    nav.get_logger().info(f'导航结果：{result}')
